#include "vehicle_dyn_factory.hpp"
#include "test_vehicle_dyn_path.h"
#include "common_tool/csv_writer.h"
using namespace auto_ros::control;
int main()
{
	std::string dyn_yaml_path_name = test_vehicle_dyn_path + "vehicle_vy_yaw_error3dis/"
															 "vehicle_vy_yaw_error3dis.yaml";
	VehicleDynFactory test_dyn_factory;
	std::shared_ptr<VehicleDynBase> test_dyn =
		test_dyn_factory.CreateSharedObject("VehicleVyYawError3dis", dyn_yaml_path_name);
	std::cout << "speed =1.0,state_matrix is:" << test_dyn->state_matrix() << std::endl;
	for (double speed = 4; speed < 24; speed += 0.5)
	{

		test_dyn->para_update_matrix(speed);
		std::cout << "speed =" << speed << ",state_matrix is:" << test_dyn->state_matrix() << std::endl;
		//std::cout << test_dyn->dyn_yaml_ << std::endl;
	}
}